JPS61196787A - Torque control system for induction motor - Google Patents
Torque control system for induction motorInfo
- Publication number
- JPS61196787A JPS61196787A JP60036051A JP3605185A JPS61196787A JP S61196787 A JPS61196787 A JP S61196787A JP 60036051 A JP60036051 A JP 60036051A JP 3605185 A JP3605185 A JP 3605185A JP S61196787 A JPS61196787 A JP S61196787A
- Authority
- JP
- Japan
- Prior art keywords
- command
- current
- component
- magnetic flux
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward control
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、誘導電動機のトルク制御方式に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a torque control method for an induction motor.
（従来技術とその問題点）
最近の誘導電動機の速度制御は、ベクトル制御が一般的
に用いられている。このようなベクトル制御により誘導
電動機の速度制御を行なう場合に□ は、工作機械等の
主軸用モータ等のように高速回転領域まで速度制御を行
なう場合や、一定回転数において、トルク指令に応じて
励磁を弱めるような制御を行なう場合に、電動機の２次
もれインダクタンス、励磁鉄損等の効果により、トルク
指令と励磁電流、２次電流、すべり周波数が非線形とな
り、この結果、トルク指令に対して出力トルクも非線形
となり、正確なトルク指令ができなくなる。(Prior art and its problems) Vector control is generally used for speed control of recent induction motors. When controlling the speed of an induction motor using such vector control, □ is used when controlling the speed up to a high-speed rotation range, such as in the spindle motor of a machine tool, or when controlling the speed of an induction motor in response to a torque command at a constant rotation speed. When controlling to weaken the excitation, the torque command, excitation current, secondary current, and slip frequency become nonlinear due to the effects of the motor's secondary leakage inductance, excitation iron loss, etc., and as a result, the torque command As a result, the output torque also becomes non-linear, making it impossible to provide accurate torque commands.
これに対処するため従来は、モータの出力トルクを正確
に知る手段として、モータトルクを測定する、トルク、
センサ等の外部機器を使用していた。このため設備コス
トがかさむという問題があった。To deal with this, conventional methods of accurately determining the output torque of the motor include measuring the motor torque.
External devices such as sensors were used. Therefore, there was a problem in that the equipment cost increased.
（発明の目的）
本発明は、このような従来技術の問題点を解消し、特別
なトルク測定機器を必要とすることなく、トルク指令に
対して出力トルクを線形に制御する、誘導電動機のトル
ク制御方式の提供を目的とするものである。(Objective of the Invention) The present invention solves the problems of the prior art, and the torque of an induction motor that linearly controls the output torque with respect to the torque command without the need for special torque measurement equipment. The purpose is to provide a control method.
（発明の概要）
本発明の誘導電動機のトルク制御方式は、電動機に対す
るトルク指令及び電動機に対応して決定される励磁磁束
指令をもとにして、これらの指令に対して線形な出力ト
ルクが得られるように、励磁電流指令、２次電流指令を
それぞれ、励磁磁束方向成分および電動機の起電圧方向
（トルク方向）成分にベクトル分解し、これらのベクト
ル値の合成により電動機の１次電流指令を求めることを
特徴とする。また、必要な負荷電流を流すためのすべり
周波数指令を得ることにより、電動機トルクを線形に制
御するために、特別なトルク測定機器を必要とすること
なく、トルク指令そのものを゛出力トルクとして代用で
きるようにしたことを特徴とするものである。(Summary of the Invention) The induction motor torque control method of the present invention is based on a torque command for the motor and an excitation magnetic flux command determined corresponding to the motor, and obtains an output torque linear with respect to these commands. The excitation current command and the secondary current command are vector-decomposed into a component in the direction of the excitation magnetic flux and a component in the direction of the motor's electromotive force (torque direction), respectively, and the primary current command of the motor is obtained by combining these vector values. It is characterized by In addition, by obtaining the slip frequency command to flow the necessary load current, the torque command itself can be used as an output torque in order to linearly control the motor torque without requiring special torque measurement equipment. It is characterized by the following.
（実施例） 以下、図により本発明の一実施例について説明する。(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
はじめに、本発明の前提となる、誘導電動機の緒特性の
関係を、第３図の等何回路、第４図、第５図のベクトル
図により説明する。First, the relationship between the mechanical characteristics of an induction motor, which is the premise of the present invention, will be explained using the equal circuit shown in FIG. 3 and the vector diagrams shown in FIGS. 4 and 5.
誘導電動機の２次人力Ｒ２は、
Ｐ２°ＥＩＸＩＩＸｃｏｓθ２ ・・・（１）で求め
られる。ここで、Φを励磁磁束、ω。を励磁周波数とす
ると、誘起起電圧Ｅ、は、Ｅ□＝ｄΦ／ｄｔ＝ω。×Φ
・・・（２）２次電流は、
Ｉｚ＝Ｅｔ／１ＺｚＪ
＝Ｅｔ ／ （Ｒ２／Ｓ） ２＋Ｘ２ ’・・・（３）
力率は、
ｃｏｓθ２ ＝（Ｒ２／Ｓ） ／ ｌ Ｚ ｌ
＝ （Ｒ２／Ｓ） ／Ｗ万丁Ｔ〒ｘ２”・・・ （４）
で求められる。The secondary human power R2 of the induction motor is obtained as follows: P2°EIXIIXcosθ2 (1). Here, Φ is the exciting magnetic flux, and ω. When is the excitation frequency, the induced voltage E is E□=dΦ/dt=ω. ×Φ
...(2) Secondary current is Iz=Et/1ZzJ =Et/(R2/S) 2+X2'...(3) Power factor is cosθ2 =(R2/S)/l Z l
= (R2/S) /WmanchoT〒x2”... (4) It is obtained as follows.
（２）、（３）、（４）式を（１）式に代入すると、
Ｒ２＝Ｅ１ ２＊（Ｒ２Ｉｓ）／ （（Ｒ２／Ｓ）
’ ＋）［２ｚ）＝Ｉ２２・（Ｒ２／Ｓ）
・・・ （５）２次銅損Ｒ２ｒは、
Ｐ２ｒ＝Ｉ２ ２− Ｒ２＝ＳＸＰ２ ・・−
（６）で求められ、電動機の出力Ｐｍは、
Ｐ ｍ＝ Ｒ２Ｒ２ｒ ＝ （Ｉ Ｓ） Ｒ２・・・
（７）
となる。また、電動機のトルクをＴｍ、電動機の回転数
をωｍとすると、
Ｐ ｍ ＝ （１） ｍ Ｘ Ｔ ｍ
−（８）となる。Substituting equations (2), (3), and (4) into equation (1), R2=E1 2*(R2Is)/((R2/S)
' +)[2z)=I22・(R2/S)
... (5) Secondary copper loss R2r is P2r=I2 2- R2=SXP2...-
(6), the output Pm of the motor is P m = R2R2r = (I S) R2...
(7) becomes. Also, if the torque of the electric motor is Tm and the rotation speed of the electric motor is ωm, then P m = (1) m X T m
−(8).
ここで、電動機のトルクＴｍは、（１） 、 （２
）、（７）、（８）式より、
Ｔｍ＝ Ｐｍ／ωｍ
＝（１−３）Ｒ２／０ｍ
＝ （１／ωｍ）Ｘ （１−（ωｓｌω６月ＸＰ２＝
Ｒ２／ω０
＝ （１／（１）０ ）ＸＥＩ ＸＩ２ Ｘ
ｃｏｓθ２＝ΦＸｌ２Ｘｃｏｓθ２ ＝（
９）となる。Here, the torque Tm of the electric motor is (1), (2
), (7), and (8), Tm = Pm/ωm = (1-3) R2/0m = (1/ωm)X (1-(ωslωJuneXP2=
R2/ω0 = (1/(1)0)XEI XI2 X
cosθ2=ΦXl2Xcosθ2=(
9).
但し、ωＳをすべり周波数とする。However, ωS is the slip frequency.
次に、Ｉｏ、Ｉ２のΦ軸成分（励磁磁束成分）、Ｅｌ軸
成分（起電圧方向成分）をそれぞれ■。Next, the Φ-axis component (exciting magnetic flux component) and El-axis component (electromotive force direction component) of Io and I2 are respectively .
Ｍ 、 Ｉｎ ω、およびＩ２Ｍ、Ｌ２１Ｊ）として、
以下のように求める。Ｌｏを励磁インダクタンスとする
と、
Φ＝Ｌ０ＸＩｏＭ
であるから、
Ｉ（ＩＭ ＝ （１／Ｌｏ）ＸΦ ・ （１０
）また、■ｏωは鉄損成分であり、比例定数をＫとする
と、
ＩＯωｍＫＸ（＋）６ ＸΦ ・（１１）で近似
される。M, In ω, and I2M, L21J),
Find it as follows. If Lo is the excitation inductance, then Φ=L0XIoM, so I(IM = (1/Lo)XΦ ・ (10
) Also, ■oω is an iron loss component, and if the proportionality constant is K, it is approximated by IOωmKX(+)6XΦ·(11).
さらに、（９）式を変形して、
Ｉ２ （１）＝ Ｉ２ Ｘ ｃｏｓθ２＝Ｔｍ／Φ・・
・（１２）
が得られ、２次電流のΦ軸成分Ｉ２Ｍは、Ｉ２Ｍ ＝
Ｉ２ Ｘ ｓｉｎθ２＝Ｉ２ωＸｔａｎθ２＝ Ｉ ２
ωＸ （Ｘ２ ／ （Ｒ２／ Ｓ） ）＝ Ｉ ２
（＋） Ｘ （ＳＸ２ ／ Ｒ２）＝Ｉ２ω×ω５Ｘ（
Ｌ２／Ｒ２）
・・・（１３）
となるが、（２）、（３）、（４）、（１２）式％式％
が得られ、両辺をΦで割ると、
Ｉ２（１）／Φ＝ （（１） ５ＸＲ２） ／ （Ｒ２
ｚ＋（ω５Ｌ２）２）
・・・（１４）
以上を前提として、本発明によるトルク指令に応じた１
次電流およびすべり周波数を求める具体的方法について
以下に説明する。Furthermore, by transforming equation (9), I2 (1) = I2 X cosθ2 = Tm/Φ...
・(12) is obtained, and the Φ-axis component I2M of the secondary current is I2M =
I2 X sinθ2=I2ωXtanθ2= I2
ωX (X2/(R2/S))=I2
(+) X (SX2 / R2) = I2ω×ω5X (
L2/R2) ...(13) However, formulas (2), (3), (4), and (12) are obtained, and dividing both sides by Φ, I2(1)/Φ = ((1) 5XR2) / (R2
z+(ω5L2)2) ...(14) Based on the above, 1 according to the torque command according to the present invention
A specific method for determining the secondary current and slip frequency will be described below.
一般に、励磁磁束Φの最大値は、［１１電動機に流し得
る最大励磁電流、［２］電動機に印加できる最大電圧、
のいずれかによって決定される。Generally, the maximum value of excitation magnetic flux Φ is [11 maximum excitation current that can be passed through the motor, [2] maximum voltage that can be applied to the motor,
determined by either.
電動機の実際の制御においては、負荷が小さいときには
励磁音を減少させる等の理由により励磁を弱める場合が
あるが、以下の説明においては磁束指令は最大値を与え
るものとする。In actual control of an electric motor, when the load is small, excitation may be weakened for reasons such as reducing excitation noise, but in the following explanation, the magnetic flux command is assumed to be given the maximum value.
トルク指令Ｔｍと、磁束指令Φがそれぞれ与えられると
、（１０）式より■。Ｍが、（１１）式よりＩ。ωが、
また（１２）式よりＩ２ωが各々求められる。When the torque command Tm and the magnetic flux command Φ are respectively given, from equation (10), ■. M is I from formula (11). ω is
Further, I2ω can be obtained from equation (12).
次に、Ｉ２ωとΦより、（１４）式によりすべり周波数
ωＳが決定されるが、ωＳをＣＰＵ等により短時間に演
算するのは困難なので、予め、Ｉ２ω／Φの値に対する
ωＳの値を求めておき、ωＳをデータテーブルとして、
また、Ｉ２ω／Φの値をデータアドレスとしてメモリに
記憶させておく。Next, the slip frequency ωS is determined from Equation (14) from I2ω and Φ, but since it is difficult to calculate ωS in a short time using a CPU, etc., the value of ωS for the value of I2ω/Φ is calculated in advance. Then, using ωS as a data table,
Further, the value of I2ω/Φ is stored in the memory as a data address.
このようにして、Ｉ２ωとωＳが求められれば、（１３
）式よりＩ２Ｍが得られる。In this way, if I2ω and ωS are found, (13
) I2M can be obtained from the formula.
以上より、１次電流Ｉ！のΦ軸成分Ｉｌ （Φ）は、
１１ （Φ）＝ＩＯＭ ＋Ｉ２Ｍ −（１５）Ｅ
ｌ軸成分Ｉｔ（Ｅｌ）は、
１１ （Ｅｌ）＝１．（１）＋ｌ２（１）・・・（１
６）
として、それぞれ求めることができる。From the above, the primary current I! The Φ-axis component Il (Φ) is 11 (Φ)=IOM +I2M − (15)E
The l-axis component It(El) is 11 (El)=1. (1)+l2(1)...(1
6) Each can be obtained as follows.
このようにして得られた１次電流は、誘導電動機の諸定
数を全て考慮した場合の電流指令であり、トルク指令に
対して線形な出力トルクを得るための電流指令となって
いる。The primary current obtained in this way is a current command in consideration of all the various constants of the induction motor, and is a current command for obtaining an output torque linear with respect to the torque command.
また、Ｉｒ （Φ）、Ｉｔ （Ｅｌ）は、それぞれ
誘導電動機のベクトル制御における励磁電流成分、負荷
電流成分に対応するものである。Further, Ir (Φ) and It (El) correspond to the excitation current component and load current component, respectively, in vector control of the induction motor.
以下、本発明の具体例について、第１図のブロック図及
び第２図のフローチャートにより説明する。Hereinafter, specific examples of the present invention will be explained with reference to the block diagram in FIG. 1 and the flowchart in FIG. 2.
■速度指令ωＣと、電動機の出方軸に直結した速度発電
機で得られた電動機回転数ωｍとを、比較器ａに入力し
、
Ｔｍ＝に１ （ωｃ−ωｍ）
＋に２ ｆ （（＋１０−０ｍ） ｄｔの演算を行ない
、トルク指令Ｔｍを算出する。なお、ベクトル制御にお
いてはこのような速度偏差の演算でトルク指令とみなし
ていることは、通常知られた事項であるので、これ以上
の説明は省略する。■Input the speed command ωC and the motor rotation speed ωm obtained from the speed generator directly connected to the output shaft of the motor to the comparator a, and calculate Tm=1 (ωc-ωm) +2 f (( +10-0m) dt and calculates the torque command Tm.In addition, it is generally known that in vector control, such calculation of speed deviation is regarded as a torque command, so this The above explanation will be omitted.
■励磁周波数ω０から、磁束特性曲線上の励磁磁束Φを
決定する。(2) Determine the excitation magnetic flux Φ on the magnetic flux characteristic curve from the excitation frequency ω0.
■励磁磁束Φより、励磁電流■。のΦ方向成分ＩＯＨを
、
ＩＯＭ ＝ （１，／Ｌｏ ）ＸΦで求め、加算器
ｄ２に入力する。■Exciting current■ from exciting magnetic flux Φ. The Φ direction component IOH of is determined by IOM = (1, /Lo)XΦ and input to the adder d2.
■Φとω。より、■ｏのＥ１１方向性 Ｉｏω＝に３×ω。ＸΦ として求め、加算器ｄ１に入力する。■Φ and ω. From ■o's E11 direction Ioω = 3×ω. XΦ and input it to the adder d1.
０２次電流Ｉ２のＥ、方向成分を除算器ｂ１により、 Ｉ２ω＝（Ｔｍ／Φ） として求める。The E direction component of the secondary current I2 is divided by the divider b1, I2ω=(Tm/Φ) Find it as.
■得られた■２ωと励磁磁束指令Φを除算器ｂ２に入力
し、予めメモリに記憶させておいたデータテーブルより
、Ｉ２ω／Φのデータアドレスに対応するすべり周波数
ωＳを求める。(2) The obtained 2ω and excitation magnetic flux command Φ are input to the divider b2, and the slip frequency ωS corresponding to the data address of I2ω/Φ is determined from the data table stored in the memory in advance.
■■２ωとωＳを乗算器ｃ２に入力し、更に（Ｌ２ ／
Ｒ２）を乗算して、２次電流のΦ方向成分Ｉ２Ｍ ＝
（Ｌ２／Ｒ２）ＸＩ２ωＸωｓを演算して、加算器ｄ
２に入力する。■■2ω and ωS are input to multiplier c2, and further (L2 /
R2) to obtain the Φ direction component of the secondary current I2M =
(L2/R2)XI2ωXωs and adder d
Enter 2.
■加算器ｄ２により、■１のΦ方向成分Ｉ＋ （Φ）
−Ｉｏｒ１＋Ｉ２Ｍ
を演算する。■Adder d2 adds ■1's Φ direction component I+ (Φ)
-Ior1+I2M is calculated.
■加算器ｄ１により、ＩｌのＥ、方向成分Ｉ Ｉ（Ｅｌ
） ＝ ＩＯ（１）＋Ｉ２ （＋）を演算する。■Adder d1 adds E of Il, direction component II(El
)=IO(1)+I2(+) is calculated.
◎電流演算回路Ａからは、直交する２相の１次電流指令
■１が得られ、２相−３相変換回路Ｂに入力される。◎From the current calculation circuit A, the orthogonal two-phase primary current command ■1 is obtained and input to the two-phase to three-phase conversion circuit B.
ｏ２相−３相回路から得られる誘導電動機Ｍの各相指令
電流Ｉｕ、Ｉｖ、Ｉｗは、電流制御器Ｃに入力される。o Each phase command current Iu, Iv, Iw of the induction motor M obtained from the 2-phase to 3-phase circuit is input to the current controller C.
電動機の各相の実際電流はＣＴｕ 。The actual current in each phase of the motor is CTu.
ＣＴｖ 、ＣＴｗにより検゛出され、指令電流と比較さ
れて、電流制御器で所定の制御が行なわれる。The current is detected by CTv and CTw, compared with a command current, and a current controller performs a predetermined control.
（発明の効果）
以上説明したように本発明によれば、特別なトルク測定
機器を必要とすることなく、トルク指令に対して線形な
出力トルクを得ることができる。(Effects of the Invention) As described above, according to the present invention, an output torque linear with respect to a torque command can be obtained without requiring a special torque measuring device.
このため、低コストで誘導電動機の正確な出力トルクを
判断できる利点がある。Therefore, there is an advantage that accurate output torque of the induction motor can be determined at low cost.
第１図は本発明の概略のブロック図、第２図はフローチ
ャート、第３図は等両回路、第４図、第５図はベクトル
図である。
Ａ・・・電流演算回路、Ｂ・・・２相−３相変換器、Ｃ
・・・電流制御器。FIG. 1 is a schematic block diagram of the present invention, FIG. 2 is a flowchart, FIG. 3 is a circuit diagram, and FIGS. 4 and 5 are vector diagrams. A... Current calculation circuit, B... 2-phase to 3-phase converter, C
...Current controller.
Claims (1)
磁磁束指令を決定する手段、励磁磁束から励磁電流の励
磁磁束成分を決定する手段、励磁磁束と励磁周波数から
励磁電流の起電圧方向成分を決定する手段、前記トルク
指令と励磁磁束指令から電動機２次電流の起電圧方向成
分を決定する手段、該２次電流の起電圧成分と励磁磁束
からすべり周波数を決定する手段、２次電流の起電圧方
向成分とすべり周波数より２次電流の励磁磁束成分を決
定する手段、上記励磁電流および２次電流のそれぞれの
励磁磁束成分と起電圧方向成分により、電動機１次電流
の励磁磁束方向成分と起電圧方向成分とを求める手段、
該２次方向成分の合成により電動機１次電流指令を求め
る手段を具備し、誘導電動機の出力トルクをトルク指令
に対して直線的に制御することを特徴とする誘導電動機
のトルク制御方式。means for determining an excitation magnetic flux command from a torque command and excitation frequency for an induction motor; means for determining an excitation magnetic flux component of an excitation current from an excitation magnetic flux; means for determining an electromotive force direction component of an excitation current from an excitation magnetic flux and an excitation frequency; Means for determining an electromotive force direction component of a motor secondary current from a torque command and an excitation magnetic flux command; A means for determining a slip frequency from an electromotive force component of the secondary current and an excitation magnetic flux; and an electromotive force direction component of a secondary current and a slip. Means for determining the excitation magnetic flux component of the secondary current from the frequency, and the excitation magnetic flux direction component and the electromotive force direction component of the motor primary current using the excitation magnetic flux component and the electromotive force direction component of the excitation current and the secondary current, respectively. means to seek,
A torque control method for an induction motor, comprising means for obtaining a motor primary current command by combining the secondary direction components, and controlling the output torque of the induction motor linearly with respect to the torque command.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60036051A JPS61196787A (en) | 1985-02-25 | 1985-02-25 | Torque control system for induction motor |
| PCT/JP1986/000079 WO1986005043A1 (en) | 1985-02-25 | 1986-02-20 | System for controlling torque of induction motor |
| US06/933,746 US4757248A (en) | 1985-02-25 | 1986-02-20 | Induction motor torque control system |
| EP86901496A EP0214301B1 (en) | 1985-02-25 | 1986-02-20 | System for controlling torque of induction motor |
| DE8686901496T DE3681665D1 (en) | 1985-02-25 | 1986-02-20 | CONTROL SYSTEM OF THE TORQUE OF AN INDUCTION MOTOR. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60036051A JPS61196787A (en) | 1985-02-25 | 1985-02-25 | Torque control system for induction motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61196787A true JPS61196787A (en) | 1986-08-30 |
Family
ID=12458913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60036051A Pending JPS61196787A (en) | 1985-02-25 | 1985-02-25 | Torque control system for induction motor |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US4757248A (en) |
| EP (1) | EP0214301B1 (en) |
| JP (1) | JPS61196787A (en) |
| DE (1) | DE3681665D1 (en) |
| WO (1) | WO1986005043A1 (en) |
Families Citing this family (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61240875A (en) * | 1985-04-16 | 1986-10-27 | Fanuc Ltd | Controlling method for 3-phase induction motor |
| JP2625969B2 (en) * | 1988-03-11 | 1997-07-02 | 株式会社明電舎 | Vector controller for induction motor |
| US5212438A (en) * | 1987-09-24 | 1993-05-18 | Kabushiki Kaisha Toshiba | Induction motor control system |
| US5003243A (en) * | 1987-09-29 | 1991-03-26 | Kabushiki Kaisha Toshiba | Control apparatus for induction machine |
| FI884512A (en) * | 1987-11-25 | 1989-05-26 | Siemens Ag | FOERFARANDE FOER EFTERBILDNING AV EN BELASTNINGSVINKELS NUVAERDE HOS EN VRIDFAELTSMOTOR SAMT ETT KOPPLINGSSCHEMA FOER FOERVERKLIGANDE AV DETTA FOERFARANDE. |
| JP2780263B2 (en) * | 1988-02-23 | 1998-07-30 | 株式会社明電舎 | Vector control method and device for induction motor |
| JP2845911B2 (en) * | 1988-12-24 | 1999-01-13 | ファナック株式会社 | Slip frequency control method for induction motor |
| FR2644950B1 (en) * | 1989-03-21 | 1991-05-17 | Alsthom Gec | VECTOR CONTROL SYSTEM FOR A CAGE ASYNCHRONOUS ELECTRIC MOTOR |
| US4968925A (en) * | 1989-08-07 | 1990-11-06 | General Electric Company | Universal field-oriented controller |
| US4958117A (en) * | 1989-09-29 | 1990-09-18 | Allen-Bradley Company, Inc. | Frequency control based on sensing voltage fed to an induction motor |
| JPH03150090A (en) * | 1989-11-02 | 1991-06-26 | Fanuc Ltd | Control system for spindle motor |
| US5330423A (en) * | 1991-11-15 | 1994-07-19 | Holster Donald J | Drive system |
| JP2755011B2 (en) * | 1992-02-13 | 1998-05-20 | 三菱電機株式会社 | Motor drive control device |
| FR2692693A1 (en) * | 1992-06-23 | 1993-12-24 | Smh Management Services Ag | Control device of an asynchronous motor |
| DE4317782C2 (en) * | 1993-05-28 | 1996-01-18 | Jungheinrich Ag | Hydraulic lifting device for battery-powered industrial trucks or the like |
| FR2709067B1 (en) * | 1993-08-17 | 1995-11-03 | Sellier Bruno | Torque generating device, application to a physical exercise device and variator for controlling a corresponding motor. |
| KR950015957A (en) * | 1993-11-12 | 1995-06-17 | 이대원 | Vector control method and apparatus of induction motor |
| US5668459A (en) * | 1995-05-09 | 1997-09-16 | Lg Industrial Systems Co., Ltd. | Apparatus for generating magnetic flux of induction motor |
| US5754026A (en) * | 1997-04-04 | 1998-05-19 | Ford Global Technologies, Inc. | Induction motor control method |
| US6104148A (en) * | 1999-04-15 | 2000-08-15 | General Electric Company | System and method for controlling an AC traction motor without sensing motor rotation speed |
| DE102013212054A1 (en) * | 2013-06-25 | 2015-01-08 | Robert Bosch Gmbh | Method and device for operating an asynchronous machine, asynchronous machine |
| US9344026B2 (en) * | 2013-07-23 | 2016-05-17 | Atieva, Inc. | Induction motor flux and torque control |
| US10521519B2 (en) | 2013-07-23 | 2019-12-31 | Atieva, Inc. | Induction motor flux and torque control with rotor flux estimation |
| US11418140B2 (en) | 2013-07-23 | 2022-08-16 | Atieva, Inc. | Induction motor flux and torque control |
| DE212018000368U1 (en) * | 2017-12-01 | 2020-07-02 | Future Motion, Inc. | Control system for electric vehicles |
| WO2019113537A1 (en) | 2017-12-07 | 2019-06-13 | Future Motion, Inc. | Dismount controls for one-wheeled vehicle |
| US10456658B1 (en) | 2019-02-11 | 2019-10-29 | Future Motion, Inc. | Self-stabilizing skateboard |
| US11273364B1 (en) | 2021-06-30 | 2022-03-15 | Future Motion, Inc. | Self-stabilizing skateboard |
| US11299059B1 (en) | 2021-10-20 | 2022-04-12 | Future Motion, Inc. | Self-stabilizing skateboard |
| US11890528B1 (en) | 2022-11-17 | 2024-02-06 | Future Motion, Inc. | Concave side rails for one-wheeled vehicles |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5790A (en) * | 1980-05-28 | 1982-01-05 | Yaskawa Electric Mfg Co Ltd | Controlling device for induction motor |
| JPS57162986A (en) * | 1981-03-31 | 1982-10-06 | Fanuc Ltd | Ac motor control system |
| EP0075023B1 (en) * | 1981-03-31 | 1986-07-30 | Fanuc Ltd. | Method of controlling an ac motor and device thereof |
| JPS5879489A (en) * | 1981-11-04 | 1983-05-13 | Fanuc Ltd | Control system for ac motor |
| US4558269A (en) * | 1982-04-22 | 1985-12-10 | Fanuc Ltd | Induction motor drive apparatus |
| JPS5963998A (en) * | 1982-10-04 | 1984-04-11 | Hitachi Ltd | Controlling method for induction motor |
| US4672287A (en) * | 1984-08-30 | 1987-06-09 | Fanuc Ltd | Induction motor digital control system |
| US4672288A (en) * | 1985-06-18 | 1987-06-09 | Westinghouse Electric Corp. | Torque controller for an AC motor drive and AC motor drive embodying the same |
-
1985
- 1985-02-25 JP JP60036051A patent/JPS61196787A/en active Pending
-
1986
- 1986-02-20 EP EP86901496A patent/EP0214301B1/en not_active Expired - Lifetime
- 1986-02-20 WO PCT/JP1986/000079 patent/WO1986005043A1/en active IP Right Grant
- 1986-02-20 DE DE8686901496T patent/DE3681665D1/en not_active Expired - Lifetime
- 1986-02-20 US US06/933,746 patent/US4757248A/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP0214301A1 (en) | 1987-03-18 |
| EP0214301A4 (en) | 1988-06-08 |
| DE3681665D1 (en) | 1991-10-31 |
| WO1986005043A1 (en) | 1986-08-28 |
| EP0214301B1 (en) | 1991-09-25 |
| US4757248A (en) | 1988-07-12 |
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